CN107648010A - Muscle rehabilitation device and its control method - Google Patents
Muscle rehabilitation device and its control method Download PDFInfo
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- CN107648010A CN107648010A CN201710984780.1A CN201710984780A CN107648010A CN 107648010 A CN107648010 A CN 107648010A CN 201710984780 A CN201710984780 A CN 201710984780A CN 107648010 A CN107648010 A CN 107648010A
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- forearm
- angle
- mechanical arm
- swing
- arm
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00058—Mechanical means for varying the resistance
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/0355—A single apparatus used for either upper or lower limbs, i.e. with a set of support elements driven either by the upper or the lower limb or limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2230/00—Measuring physical parameters of the user
- A61H2230/60—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
- A61H2230/605—Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG] used as a control parameter for the apparatus
Abstract
The invention discloses a kind of muscle rehabilitation device and its control method, wherein, the control method of the muscle rehabilitation device includes：The mode of operation of mechanical arm is determined, wherein, mode of operation includes the first mode of operation that mechanical arm provides the external force opposite with the forearm direction of motion, and mechanical arm drives the second mode of operation that forearm is swung in corresponding swing angle；When mechanical arm is selected as first mode, the external force value of mechanical arm output is determined according to pressure-sensitive signal, and the external force opposite with the forearm direction of motion is provided according to external force value control machinery arm；When mechanical arm is selected as second mode, the swing angle of mechanical arm is determined according to electromyographic signal, and drive forearm to be swung in corresponding swing angle according to swing angle control machinery arm.In technical scheme proposed by the present invention, mechanical arm can provide certain external force value to hinder the opening of forearm or gathering, can also pull forearm in certain angular range and move together.
Description
Technical field
The present invention relates to medical auxiliary apparatus technical field, more particularly to a kind of muscle rehabilitation device and its control method.
Background technology
Support and kinematic system of the medical health-care for human body are significant, such as, if the bone of human arm, pass
Section, muscle and tendon are irregularly if motion, then motor center associated, in human body myeloid tissue can wither
Contracting.
At present, the mode of generally use physical treatment is stiff to help amyotrophic patient exercise's muscle and help joint
Hard and tendon glues glutinous patient and resumed treatment, and specifically, physiotherapist makes the arm motion of patient manually by hand, this
Many shortcomings be present in kind mode, such as, it can not ensure therapist in each physical treatment all with identical energy and efficiency bar
Make；Due to can only carry out subjective quantification so that become difficult to the objective quantification of therapeutic effect during multiple treatment.
The content of the invention
It is a primary object of the present invention to provide a kind of muscle rehabilitation device and its control method, it is intended to which solution passes through physics
The problem of mode that therapist carries out rehabilitation to patient can not realize accurate control.
To achieve the above object, the control method of a kind of muscle rehabilitation device provided by the invention, the muscle rehabilitation dress
Put the myoelectric sensor including the electromyographic signal for detecting postbrachium, the pressure-responsive for detecting the pressure-sensitive signal at wrist
Device, and the mechanical arm for limiting or driving forearm to move, the control method of the muscle rehabilitation device include：
The mode of operation of the mechanical arm is determined, wherein, the mode of operation includes the mechanical arm and provided and forearm fortune
First mode of operation of dynamic external force in opposite direction, and the mechanical arm drive what forearm was swung in corresponding swing angle
Second mode of operation；
When the mechanical arm is selected as first mode, the pressure-sensitive signal that the voltage sensitive sensor measures is obtained, according to
The pressure-sensitive signal determines the external force value of the mechanical arm output, and controls the mechanical arm to provide with before according to the external force value
The opposite external force of the arm direction of motion；
When the mechanical arm is selected as second mode, the electromyographic signal that the myoelectric sensor measures is obtained, according to
The electromyographic signal determines the swing angle of the mechanical arm, and controls the mechanical arm to drive forearm according to the swing angle
Swung in corresponding swing angle.
Preferably, the described the step of external force value that the mechanical arm exports is determined according to the pressure-sensitive signal, includes：
Obtain the angle between the gravity and forearm and horizontal plane of forearm；
According to the gravity and the angle, the drag from forearm is calculated；
According to default Resistance Value and the drag, the external force value that the mechanical arm exports is calculated.
Preferably, the voltage sensitive sensor includes the first voltage sensitive sensor and the second voltage sensitive sensor being oppositely arranged, institute
The side that the first voltage sensitive sensor is disposed in proximity to ground is stated, second voltage sensitive sensor is arranged at the side away from ground；
Wherein, the step of gravity of the acquisition forearm includes：
The output numerical value of the first voltage sensitive sensor described in when the forearm is lain in a horizontal plane on loading end is detected, and is recorded
The output numerical value of first voltage sensitive sensor is the gravity.
Preferably, described according to the gravity and the angle, the step of calculating the drag from forearm, includes：
When the output numerical value of first voltage sensitive sensor diminishes, the output numerical value of second voltage sensitive sensor becomes big
When, the drag from forearm is calculated using below equation：
X '=kcos θ,
When the output numerical value of first voltage sensitive sensor becomes big, the output numerical value of second voltage sensitive sensor diminishes
When, the drag from forearm is calculated using below equation：
X '=- kcos θ,
X ' represents the drag from forearm in formula, and k represents the gravity of forearm, and θ represents the angle that forearm lifts；
The external force value exported using below equation calculating machine arm：
X '=X-x ',
X ' represents the external force value of mechanical arm output in formula, and X represents default Resistance Value.
Preferably, the myoelectric sensor is used to detect the first electromyographic signal caused by the bicipital muscle of arm and the triceps muscle of arm produces
The second electromyographic signal；
Wherein, the swing angle that the mechanical arm is determined according to the electromyographic signal, and according to the swing angle
The step of controlling the mechanical arm to drive forearm to be swung in corresponding swing angle includes：
Calculate data difference corresponding to first electromyographic signal and second electromyographic signal；
According to the data difference, the movement tendency of forearm is judged, and corresponding to control machinery arm along the movement tendency
Direction is swung；
When the data difference is located in preset range, forearm stop motion is judged, record between forearm and horizontal plane
Angle；
According to the angle difference between the angle and 90 °, the swing angle of the mechanical arm is calculated；
Control the mechanical arm to circulate with predetermined period according to the swing angle to swing.
Preferably, it is described according to the data difference, judge the movement tendency of forearm, and control machinery arm moves along described
The step of direction corresponding to trend is swung, including：
When the data difference is more than or equal to the first predetermined threshold value, determine that forearm has the trend of gathering, control machinery
Arm is swung along direction is collapsed；
When the data difference is less than or equal to the second predetermined threshold value, determine that forearm has the trend of opening, control machinery
Arm is swung along direction is opened, and the preset range is less than first predetermined threshold value and is more than second predetermined threshold value.
Preferably, it is described when the data difference is located in preset range, judge forearm stop motion, record forearm with
The step of angle between horizontal plane, includes：
When the data difference is more than second predetermined threshold value, and the gathering of mechanical arm edge less than first predetermined threshold value
When direction is swung, the first angle between forearm and horizontal plane is recorded；
When the data difference is more than second predetermined threshold value, and mechanical arm edge opening less than first predetermined threshold value
When direction is swung, the second angle between forearm and horizontal plane is recorded.
Preferably, the angle difference according between the angle and 90 °, the swing angle of the mechanical arm is calculated
The step of include：
The first angle difference of first angle and 90 ° is calculated, determines the gathering angle of the mechanical arm for described the
One angle difference；
90 ° and the second angle differences of second angle are calculated, the opening angle for determining the mechanical arm is described the
Two angle differences；
The control mechanical arm circulates the step of swinging according to the swing angle with predetermined period to be included：
Control the mechanical arm to circulate with predetermined period according to the gathering angle and the opening angle to swing；
The control method of the muscle rehabilitation device also includes：
After the upper predetermined period that the mechanical arm circulates swing terminates, by the gathering angle of the mechanical arm again
Be defined as the first angle difference and the first preset increments and；
By the opening angle of the mechanical arm be redefined as the second angle difference and the second preset increments and；
The mechanical arm is controlled to be followed according to the new gathering angle and the new opening angle with next predetermined period
Ring is swung.
To achieve the above object, a kind of muscle rehabilitation device provided by the invention includes being used for the myoelectricity letter for detecting postbrachium
Number myoelectric sensor, the voltage sensitive sensor for detecting the pressure-sensitive signal at wrist, for limit or drive forearm move
Mechanical arm, memory, processor and storage on a memory and the computer program that can run on a processor, the processor
The step of control method of the muscle rehabilitation device described in any one as described above being realized when performing the computer program.
Preferably, the voltage sensitive sensor includes the first voltage sensitive sensor and the second voltage sensitive sensor being oppositely arranged, institute
The side that the first voltage sensitive sensor is disposed in proximity to ground is stated, second voltage sensitive sensor is arranged at the side away from ground.
In technical scheme proposed by the present invention, by corresponding arm joint whether can free movement two kinds of situations, by machine
Tool arm is set with two kinds of mode of operations, specifically, as the free movement of arm joint energy (such as amyotrophic patient), machinery
Arm provides certain external force value to hinder the opening of forearm or gathering；When arm joint is unable to free movement (such as anchylosis
Glutinous patient is glued with tendon) when, mechanical arm can pull forearm in certain angular range and move together.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of the control method first embodiment of muscle rehabilitation device of the present invention；
Fig. 2 be muscle rehabilitation device of the present invention control method second embodiment according to determining the pressure-sensitive signal
The refinement schematic flow sheet of the external force value step of mechanical arm output；
Fig. 3 be muscle rehabilitation device of the present invention control method 3rd embodiment according to the gravity and the angle,
Calculate the refinement schematic flow sheet of the drag step from forearm；
Fig. 4 be muscle rehabilitation device of the present invention control method fourth embodiment according to the electromyographic signal determine described in
The swing angle of mechanical arm, and control the mechanical arm to drive forearm to be put in corresponding swing angle according to the swing angle
The refinement schematic flow sheet of dynamic step；
Fig. 5 be muscle rehabilitation device of the present invention the embodiment of control method the 5th according to the data difference, before judgement
The movement tendency of arm, and control machinery arm swings the refinement schematic flow sheet of step along direction corresponding to movement tendency；
Fig. 6 be muscle rehabilitation device of the present invention control method sixth embodiment in when the data difference is located at default model
When enclosing interior, forearm stop motion is judged, record the refinement schematic flow sheet of the angle step between forearm and horizontal plane；
Fig. 7 is the modular structure schematic diagram of the embodiment of muscle rehabilitation device one of the present invention.
The realization, functional characteristics and advantage of the object of the invention will be described further referring to the drawings in conjunction with the embodiments.
Embodiment
It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.
Fig. 1 is refer to, Fig. 1 is the control method for the muscle rehabilitation device that first embodiment of the invention proposes.The muscle
Rehabilitation device includes being used to detect the myoelectric sensor of the electromyographic signal of postbrachium, the pressure for detecting the pressure-sensitive signal at wrist
Dependent sensor, and the mechanical arm for limiting or driving forearm to move, the mechanical arm is equivalent to the dermoskeleton being worn on forearm
Bone, in this embodiment, the control method of the muscle rehabilitation device include：
Step S100, the mode of operation of the mechanical arm is determined, wherein, the mode of operation provides including the mechanical arm
First mode of operation of the external force opposite with the forearm direction of motion, and the mechanical arm drive forearm in corresponding swing angle
Second mode of operation of interior swing.
Specifically, for amyotrophic patient, its arm joint can free movement, but the power that muscle can be provided
Gas is little, and physiotherapist applies certain resistance with hand to the arm of patient so that patient needs to overcome the resistance to put
It is dynamic, so as to reach the purpose to exercise one's muscles.
Glutinous patient is glued for anchylosis and tendon, its arm joint is unable to free movement, generally, fore-arm
In the state horizontal by 90 °, the arm that physiotherapist pulls patient with hand is swung in different angle, so as to carry out rehabilitation
The muscle of patient.
Therefore, different mode of operations is set to mechanical arm：First mode of operation, it is opposite with forearm motion for providing
External force；Second mode of operation, for driving forearm to be swung in corresponding swing angle.
Step S200, when the mechanical arm is selected as first mode, obtain the voltage sensitive sensor measure it is pressure-sensitive
Signal, the external force value of the mechanical arm output is determined according to the pressure-sensitive signal, and controls the machinery according to the external force value
Arm provides the external force opposite with the forearm direction of motion.
Specifically, voltage sensitive sensor is arranged at wrist, can not only know the direction of motion of forearm, can also be used to survey
Resistance caused by forearm itself is obtained, such as, when forearm is from when collapsing for 0 ° to 90 °, forearm strap carrys out downward resistance, due in flesh
During the work of the multiple key apparatus of meat, typically apply constant resistance to forearm, to reach more preferable effect, therefore, by forearm
Including the drag evaluation itself brought, it will be understood that the external force value that mechanical arm applies it is different with the angle residing for forearm and
Change.
Step S300, when the mechanical arm is selected as second mode, obtain the myoelectricity that the myoelectric sensor measures
Signal, the swing angle of the mechanical arm is determined according to the electromyographic signal, and the machinery is controlled according to the swing angle
Arm drives forearm to be swung in corresponding swing angle.
Specifically, myoelectric sensor is arranged on postbrachium, is mainly used in obtaining the flesh of the bicipital muscle of arm and triceps muscle of arm output
Electric signal is, it is necessary to explanation, and when forearm collapses, the bicipital muscle of arm plays a major role, now, the myoelectricity letter of bicipital muscle of arm output
Number much stronger than the triceps muscle of arm output electromyographic signal, when forearm opens, the triceps muscle of arm plays a major role, now, the triceps muscle of arm
The electromyographic signal of output is much stronger than the electromyographic signal that the bicipital muscle of arm exports.The flesh that can be exported according to the triceps muscle of arm and the bicipital muscle of arm
Electric signal, to determine the state of forearm, such as, open, collapse or static etc., it is preceding when muscle reaches higher pain level
Arm is static, so as to know angular range that forearm can be swung, so as to which control machinery arm drives forearm to put by easy stages
Dynamic different angle.
In technical scheme proposed by the present invention, by corresponding arm joint whether can free movement two kinds of situations, by machine
Tool arm is set with two kinds of mode of operations, specifically, as the free movement of arm joint energy (such as amyotrophic patient), machinery
Arm provides certain external force value to hinder the opening of forearm or gathering；When arm joint is unable to free movement (such as anchylosis
Glutinous patient is glued with tendon) when, mechanical arm can pull forearm in certain angular range and move together.
Fig. 2 is refer to, is the second embodiment of the control method of muscle rehabilitation device of the present invention, is answered based on muscle of the present invention
The first embodiment of the control method of strong device, the external force value bag that the mechanical arm output is determined according to the pressure-sensitive signal
Include：
Step S210, obtain the angle between the gravity and forearm and horizontal plane of forearm.
Specifically, the voltage sensitive sensor includes the first voltage sensitive sensor and the second voltage sensitive sensor being oppositely arranged, institute
The side that the first voltage sensitive sensor is disposed in proximity to ground is stated, second voltage sensitive sensor is arranged at the side away from ground,
The step of gravity of the acquisition forearm, includes：
The output numerical value of the first voltage sensitive sensor described in when the forearm is lain in a horizontal plane on loading end is detected, and is recorded
The output numerical value of first voltage sensitive sensor is the gravity.
It should be noted that processing is zeroed out in advance to the first voltage sensitive sensor, so as to ensure from the first pressure-responsive
The output numerical value that device is got is gravity.
In addition, the angle between forearm and horizontal plane is obtained by being arranged at the angular transducer of joint.
Step S220, according to the gravity and the angle, calculate the drag from forearm；
Step S230, according to default Resistance Value and the drag, calculate the external force value that the mechanical arm exports.
Specifically, the drag that forearm provides can be divided into several situations, when forearm collapses, and forearm and loading end (namely water
Plane) between angle when being less than 90 °, downward mechanical resistance hinders forearm to move produced by forearm, constant due to apply to forearm
Resistance Value, now, the external force value of mechanical arm output should be constant Resistance Value and subtract power downward caused by forearm；Work as forearm
Collapse, and the angle between forearm and loading end is more than 90 °, downward power produced by forearm helps forearm motion, equally, in order to
It is constant to ensure the Resistance Value suffered by forearm, and the external force value of mechanical arm output should be constant Resistance Value and be produced plus forearm
Downward power；Similarly, when can calculate forearm opening, the external force value of mechanical arm output.
In the present embodiment, the downward power that forearm itself is brought is taken into account, carrys out the external force value of calculating machine arm output,
So as to ensure that the Resistance Value that forearm is subject to is constant.
Fig. 3 is refer to, is the 3rd embodiment of the control method of muscle rehabilitation device of the present invention, is answered based on muscle of the present invention
The second embodiment of the control method of strong device, it is described according to the gravity and the angle, calculate the drag bag from forearm
Include：
Step S221, when the output numerical value of first voltage sensitive sensor diminishes, the output of second voltage sensitive sensor
When numerical value becomes big, the drag from forearm is calculated using below equation：
X '=kcos θ,
Step S222, when the output numerical value of first voltage sensitive sensor becomes big, the output of second voltage sensitive sensor
Numerical value becomes hour, and the drag from forearm is calculated using below equation：
X '=- kcos θ,
X ' represents the drag from forearm in formula, and k represents the gravity of forearm, and θ represents the angle that forearm lifts.
Specifically, when the output numerical value of the first voltage sensitive sensor becomes small, the output numerical value of the second voltage sensitive sensor becomes big
When, illustrate that forearm is in the motion state collapsed；On the contrary, forearm is in the motion state opened.
Step S223, the external force value exported using below equation calculating machine arm：
X '=X-x ',
X ' represents the external force value of mechanical arm output in formula, and X represents default Resistance Value.
When the power that forearm applies is more than default Resistance Value, forearm overcomes Resistance Value to move；When what forearm applied moves
When power is not more than default Resistance Value, forearm is moved by limitation, i.e., in motionless state.Specifically, when judgement forearm is in
During the movement tendency of gathering, if the output numerical value of the second voltage sensitive sensor is more than the external force value of mechanical arm output, forearm is able to
Collapse；When judging that forearm is in the movement tendency opened, if the output numerical value of the first pressure sensor exports more than mechanical arm
External force value, forearm opened.
Fig. 4 is refer to, is the fourth embodiment of the control method of muscle rehabilitation device of the present invention, the myoelectric sensor is used
In the second electromyographic signal caused by the first electromyographic signal caused by the detecting bicipital muscle of arm and the triceps muscle of arm, answered based on muscle of the present invention
First to the 3rd any embodiment of the control method of strong device, the pendulum that the mechanical arm is determined according to the electromyographic signal
Angle is moved, and control the mechanical arm to drive forearm to swing in corresponding swing angle according to the swing angle to include：
Step S310, calculate data difference corresponding to first electromyographic signal and second electromyographic signal；
Step S320, according to the data difference, judge the movement tendency of forearm, and control machinery arm is along movement tendency pair
The direction answered is swung.
Specifically, glutinous patient is glued for anchylosis and tendon, its joint is unable to free movement, it is necessary to which mechanical arm drives
Forearm moves.Firstly the need of the electromyographic signal according to the bicipital muscle of arm and the triceps muscle of arm, judge the movement tendency of forearm, then could
The swaying direction of control machinery arm, that is, mechanical arm is with arm swing before the wish drive of patient.
Step S330, when the data difference is located in preset range, judge forearm stop motion, record forearm and water
Angle between plane；
Step S340, according to the angle difference between the angle and 90 °, calculate the swing angle of the mechanical arm.
Specifically, when data difference corresponding to electromyographic signal caused by the bicipital muscle of arm and the triceps muscle of arm within the specific limits
When, illustrate patient because the reason such as pain stopped exerting oneself for muscle, now, record the angle between forearm and horizontal plane, with
Obtain the initial scope that can be swung of patient.It should be noted that for being unable to the patient of free movement to joint, forearm is usually
Horizontal by 90 °.When mechanical arm drives forearm to collapse, according to the state of muscle, wish of the forearm without motion is judged, this
When, angle of the record forearm (can also be mechanical arm) between horizontal plane, such as 95 °；When mechanical arm drives forearm to open,
According to the state of muscle, wish of the forearm without motion is judged, now, record the angle between forearm and horizontal plane, such as
85 °, then mechanical arm most starts that forearm will be driven to swing between 85 ° to 95 °.
Step S350, control the mechanical arm to be circulated according to the swing angle with predetermined period and swing.
Specifically, mechanical arm drives forearm to swing a predetermined period, such as 1 week, after 1 week terminates, machine in swing angle
Tool arm will increase the angle swung, for example be swung between 80 ° to 100 °, equally also swing a predetermined period, such as 1 week,
With incrementally increasing for amplitude of fluctuation.
Fig. 5 is refer to, is the 5th embodiment of the control method of muscle rehabilitation device of the present invention, is answered based on muscle of the present invention
The fourth embodiment of the control method of strong device, it is described according to the data difference, judge the movement tendency of forearm, and control machine
Tool arm is swung along direction corresponding to movement tendency to be included：
Step S321, when the data difference is more than or equal to the first predetermined threshold value, determine that forearm has the trend of gathering,
Control machinery arm is swung along direction is collapsed；
Step S322, when the data difference is less than or equal to the second predetermined threshold value, determine that forearm has the trend of opening,
Control machinery arm is swung along direction is opened, and the preset range is less than first predetermined threshold value and default more than described second
Threshold value.
Specifically, data corresponding to general electromyographic signal have a fluctuation, thus muscle not firmly when, first or second is default
Threshold value is not 0, the first predetermined threshold value can be set as to 40, the second predetermined threshold value is set as -40.When data difference is more than or waits
When 40, illustrate that the bicipital muscle of arm makes power, forearm has the trend of gathering, and so as to which control machinery arm is swung along direction is collapsed, forearm obtains
To collapse, joint and muscle are taken exercise；When data difference is less than or equal to -40, illustrate that the triceps muscle of arm makes power, forearm, which has, to be opened
The trend opened, so as to which control machinery arm is swung along direction is opened, forearm is opened, and joint and muscle are taken exercise；Work as data
Difference is less than 40 and is more than -40, illustrates that the bicipital muscle of arm and the triceps muscle of arm do not make power, forearm is inactive state, and now, mechanical arm is same
When stopping act.
Fig. 6 is refer to, is the sixth embodiment of the control method of muscle rehabilitation device of the present invention, is answered based on muscle of the present invention
5th embodiment of the control method of strong device, it is described when the data difference is located in preset range, judge that forearm stops
Motion, the angle recorded between forearm and horizontal plane include：
Step S331, when the data difference is more than second predetermined threshold value, and machine less than first predetermined threshold value
Tool arm records the first angle between forearm and horizontal plane along when collapsing direction swing；
Step S332, when the data difference is more than second predetermined threshold value, and machine less than first predetermined threshold value
Tool arm records the second angle between forearm and horizontal plane along when opening direction swing.
Specifically, when mechanical arm is along when collapsing direction swing, the bicipital muscle of arm and the triceps muscle of arm do not make power, illustrate that forearm is
Inactive state, mechanical arm stopping action, record the angle between forearm and horizontal plane, such as 95 °；When direction is opened on mechanical arm edge
During swing, the bicipital muscle of arm and the triceps muscle of arm do not make power, and it is inactive state to illustrate forearm, mechanical arm stopping action, records forearm
Angle between horizontal plane, such as 85 °, then mechanical arm will be swung at 85 ° to 95 ° in the range of this.
Further, the angle difference according between the angle and 90 °, the angle of oscillation of the mechanical arm is calculated
Degree includes：
Step S341, first angle and 90 ° of first angle difference are calculated, determine the gathering angle of the mechanical arm
For the first angle difference；
Step S342,90 ° of second angle differences with second angle are calculated, determine the opening angle of the mechanical arm
For the second angle difference；
The step S350, the mechanical arm is controlled to include according to the swing angle with predetermined period circulation swing：
Control the mechanical arm to circulate with predetermined period according to the gathering angle and the opening angle to swing；
Specifically, still using the first angle as 95 °, exemplified by the second angle is 85 °, it is 5 ° to collapse angle, and opening angle is 5 °,
Because the original state of forearm and mechanical arm is 90 °, therefore mechanical arm drives forearm pendulum in the range of 5 ° of the left and right of original state
It is dynamic.
The control method of the muscle rehabilitation device also includes：
Step S400, after the upper predetermined period that the mechanical arm circulates swing terminates, by the receipts of the mechanical arm
Hold together angle be redefined as the first angle difference and the first preset increments and；
Step S500, the opening angle of the mechanical arm is redefined as the second angle difference and the second default increasing
The sum of amount；
Step S600, control the mechanical arm according to the new gathering angle and the new opening angle with next pre-
If loop cycle is swung.
After one angular range of arm swing before mechanical arm drives for the first time, joint and muscle obtain certain exercise, so
The hunting range of mechanical arm is increased afterwards, for example collapses angle to add 5 ° of increment on the basis of former gathering angle (such as 5 °),
Opening angle is the increment on the basis of former opening angle (such as 5 °) plus 5 °, then the hunting range of mechanical arm is initial shape
One predetermined period of arm swing before being driven in the range of 10 ° of state (namely 90 °) left and right, after predetermined period terminates, hunting range
Increase again, until hunting range be 0 to 135 °, namely opening angle be 90 °, collapse angle be 45 °.
Further, in the swing process of mechanical arm, if the patient feels muscle or joint are difficult in adapt to, so that the upper arm
When biceps and the triceps muscle of arm stop making power, record the angle of mechanical arm and horizontal plane, such as 98 °, then will collapse angle by
10 ° are changed to 8 °, and swing original predetermined period in the range of (90 °) left 8 ° of 10 ° of right sides of original state.
The present invention also provides a kind of muscle rehabilitation device, refer to Fig. 7, in one embodiment, the muscle rehabilitation device bag
Include the myoelectric sensor 100 of the electromyographic signal for detecting postbrachium, the pressure-responsive for detecting the pressure-sensitive signal at wrist
Device 200, for limiting or driving mechanical arm 300, memory 400 that forearm moves, processor 500 and be stored in memory 400
Computer program that is upper and being run on processor 500, the processor 500 is realized above-mentioned when performing the computer program
The step of control method of muscle rehabilitation device in any embodiment.
Further, the voltage sensitive sensor 200 includes the first voltage sensitive sensor 201 and the second pressure-sensitive biography being oppositely arranged
Sensor 202, first voltage sensitive sensor 201 are disposed in proximity to the side on ground, and second voltage sensitive sensor 202 is arranged at
Side away from ground.
In the description of this specification, reference term " embodiment ", " another embodiment ", " other embodiment " or "
The description of one embodiment~X embodiment " etc. mean to combine the specific features that the embodiment or example describe, structure, material or
Person's feature is contained at least one embodiment or example of the present invention.In this manual, to the schematic table of above-mentioned term
State and be not necessarily referring to identical embodiment or example.Moreover, specific features, structure, material, method and step or the spy of description
Point can combine in an appropriate manner in any one or more embodiments or example.
It should be noted that herein, term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements not only include those key elements, and
And also include the other element being not expressly set out, or also include for this process, method, article or device institute inherently
Key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that including this
Other identical element also be present in the process of key element, method, article or device.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
Embodiments of the invention are described above in conjunction with accompanying drawing, but the invention is not limited in above-mentioned specific
Embodiment, above-mentioned embodiment is only schematical, rather than restricted, one of ordinary skill in the art
Under the enlightenment of the present invention, in the case of present inventive concept and scope of the claimed protection is not departed from, it can also make a lot
Form, these are belonged within the protection of the present invention.
Claims (10)
1. a kind of control method of muscle rehabilitation device, it is characterised in that the muscle rehabilitation device includes being used to detect postbrachium
Electromyographic signal myoelectric sensor, the voltage sensitive sensor for detecting the pressure-sensitive signal at wrist, and for limit or
The mechanical arm of forearm motion is driven, the control method of the muscle rehabilitation device includes：
The mode of operation of the mechanical arm is determined, wherein, the mode of operation includes the mechanical arm and provided and forearm motion side
To the first mode of operation of opposite external force, and the mechanical arm drive that forearm is swung in corresponding swing angle second
Mode of operation；
When the mechanical arm is selected as first mode, the pressure-sensitive signal that the voltage sensitive sensor measures is obtained, according to described
Pressure-sensitive signal determines the external force value of the mechanical arm output, and controls the mechanical arm to provide according to the external force value and transported with forearm
Dynamic external force in opposite direction；
When the mechanical arm is selected as second mode, the electromyographic signal that the myoelectric sensor measures is obtained, according to described
Electromyographic signal determines the swing angle of the mechanical arm, and controls the mechanical arm to drive forearm in phase according to the swing angle
Swung in the swing angle answered.
2. the control method of muscle rehabilitation device as claimed in claim 1, it is characterised in that described according to the pressure-sensitive signal
The step of external force value for determining the mechanical arm output, includes：
Obtain the angle between the gravity and forearm and horizontal plane of forearm；
According to the gravity and the angle, the drag from forearm is calculated；
According to default Resistance Value and the drag, the external force value that the mechanical arm exports is calculated.
3. the control method of muscle rehabilitation device as claimed in claim 2, it is characterised in that the voltage sensitive sensor includes phase
To the first voltage sensitive sensor and the second voltage sensitive sensor of setting, first voltage sensitive sensor is disposed in proximity to the one of ground
Side, second voltage sensitive sensor are arranged at the side away from ground；
Wherein, the step of gravity of the acquisition forearm includes：
The output numerical value of the first voltage sensitive sensor described in when the forearm is lain in a horizontal plane on loading end is detected, and described in record
The output numerical value of first voltage sensitive sensor is the gravity.
4. the control method of muscle rehabilitation device as claimed in claim 2 or claim 3, it is characterised in that described according to the gravity
With the angle, the step of calculating the drag from forearm, includes：
When the output numerical value of first voltage sensitive sensor diminishes, and the output numerical value of second voltage sensitive sensor becomes big, adopt
The drag from forearm is calculated with below equation：
X '=kcos θ,
When the output numerical value of first voltage sensitive sensor becomes big, the output numerical value of second voltage sensitive sensor becomes hour, adopts
The drag from forearm is calculated with below equation：
X '=- kcos θ,
X ' represents the drag from forearm in formula, and k represents the gravity of forearm, and θ represents the angle that forearm lifts；
The external force value exported using below equation calculating machine arm：
X '=X-x ',
X ' represents the external force value of mechanical arm output in formula, and X represents default Resistance Value.
5. the control method of muscle rehabilitation device as claimed in claim 1, it is characterised in that the myoelectric sensor is used to detect
Survey the second electromyographic signal caused by the first electromyographic signal caused by the bicipital muscle of arm and the triceps muscle of arm；
Wherein, the swing angle that the mechanical arm is determined according to the electromyographic signal, and controlled according to the swing angle
The step of mechanical arm drives forearm to be swung in corresponding swing angle includes：
Calculate data difference corresponding to first electromyographic signal and second electromyographic signal；
According to the data difference, the movement tendency of forearm, and direction corresponding to control machinery arm along the movement tendency are judged
Swing；
When the data difference is located in preset range, forearm stop motion is judged, record the folder between forearm and horizontal plane
Angle；
According to the angle difference between the angle and 90 °, the swing angle of the mechanical arm is calculated；
Control the mechanical arm to circulate with predetermined period according to the swing angle to swing.
6. the control method of muscle rehabilitation device as claimed in claim 5, it is characterised in that described according to the data difference
Value, judge the movement tendency of forearm, and corresponding to control machinery arm along the movement tendency the step of swing of direction, including：
When the data difference is more than or equal to the first predetermined threshold value, determine that forearm has the trend of gathering, control machinery arm edge
Direction is collapsed to swing；
When the data difference is less than or equal to the second predetermined threshold value, determine that forearm has the trend of opening, control machinery arm edge
Open direction to swing, the preset range is less than first predetermined threshold value and is more than second predetermined threshold value.
7. the control method of muscle rehabilitation device as claimed in claim 6, it is characterised in that described to work as the data difference position
When in preset range, the step of judging forearm stop motion, recording the angle between forearm and horizontal plane, includes：
When the data difference is more than second predetermined threshold value, and mechanical arm edge gathering direction less than first predetermined threshold value
During swing, the first angle between forearm and horizontal plane is recorded；
When the data difference is more than second predetermined threshold value, and mechanical arm edge opening direction less than first predetermined threshold value
During swing, the second angle between forearm and horizontal plane is recorded.
8. the control method of muscle rehabilitation device as claimed in claim 7, it is characterised in that it is described according to the angle with
Angle difference between 90 °, include the step of the swing angle for calculating the mechanical arm：
The first angle difference of first angle and 90 ° is calculated, the gathering angle for determining the mechanical arm is described first jiao
Spend difference；
90 ° of second angle differences with second angle are calculated, the opening angle for determining the mechanical arm is described second jiao
Spend difference；
The control mechanical arm circulates the step of swinging according to the swing angle with predetermined period to be included：
Control the mechanical arm to circulate with predetermined period according to the gathering angle and the opening angle to swing；
The control method of the muscle rehabilitation device also includes：
After the upper predetermined period that the mechanical arm circulates swing terminates, the gathering angle of the mechanical arm is redefined
For the first angle difference and the first preset increments and；
By the opening angle of the mechanical arm be redefined as the second angle difference and the second preset increments and；
Control the mechanical arm to circulate with next predetermined period according to the new gathering angle and the new opening angle to put
It is dynamic.
9. a kind of muscle rehabilitation device, it is characterised in that the myoelectric sensor including the electromyographic signal for detecting postbrachium, use
The voltage sensitive sensor of pressure-sensitive signal at detecting wrist, the mechanical arm for limiting or driving forearm motion, memory, processing
Device and storage on a memory and the computer program that can run on a processor, computer program described in the computing device
The step of control method of muscle rehabilitation devices of the Shi Shixian as any one of claim 1 to 8.
10. muscle rehabilitation device as claimed in claim 9, it is characterised in that the voltage sensitive sensor includes what is be oppositely arranged
First voltage sensitive sensor and the second voltage sensitive sensor, first voltage sensitive sensor are disposed in proximity to the side on ground, and described
Two voltage sensitive sensors are arranged at the side away from ground.
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| CN110613914A (en) * | 2019-08-13 | 2019-12-27 | 袁远 | Fitness equipment, control method and control device thereof and computer readable storage medium |
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| CN107648010B (en) | 2020-09-22 |
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